Chii chinonzi robhoti yeindasitiri? Yakagadzirwa nei? Inofamba sei? Unoidzora sei? Chii chinoita?
Pamwe iwe uzere nemibvunzo nezve indasitiri yemarobhoti eindasitiri. Aya 9 ruzivo mapoinzi anogona kukubatsira iwe nekukurumidza kumisa kunzwisisa kwekutanga kwemarobhoti eindasitiri.
1. Chii chinonzi robhoti yeindasitiri?
Robhoti muchina une mamwe madhigirii erusununguko munzvimbo ine mativi matatu uye unogona kuona zvakawanda zveanthropomorphic zviito nemabasa, uye irobhoti reindasitiri rinoshandiswa mukugadzira indasitiri yemarobhoti. Hunhu hwayo hunorongwa, anthropomorphic, universal, uye mechatronics.
2. Ndeapi masisitimu emarobhoti eindasitiri? Chii chinoita ekuita?
Dhiraivha system: Kutapurirana kunoita kuti robhoti rishande.
Mechanical dhizaini sisitimu: yakawanda-dhigirii-ye-yemahara mekiniki sisitimu inoumbwa nefuselage, ruoko, uye chishandiso pamagumo emanipulator.
Sensing system: Inoumbwa neyemukati sensor module uye yekunze sensor module kuwana ruzivo rwemukati nekunze nharaunda mamiriro.
Robot-environment interactive system: Iyo sisitimu inoziva kudyidzana uye kurongeka pakati pemarobhoti emaindasitiri nemidziyo iri munzvimbo yekunze.
Munhu-muchina wekudyidzana system: opareta anotora chikamu mukudzora marobhoti uye robhoti yekubata mudziyo.
Kudzora sisitimu: Zvinoenderana nehurongwa hwekuraira kwerobhoti uye chiratidzo chemhinduro kubva kune sensor kudzora iyo robhoti yekutonga mashini kuti ipedze iyo yakatsanangurwa kufamba uye basa.
3. Chii chinorehwa robhoti rusununguko?
Chiyero cherusununguko chinoreva huwandu hwekuzvimiririra coordinate axis mafambiro erobhoti, izvo zvisingafanire kuvhura uye kuvhara dhigirii rerusununguko rwechanza cheruoko (end tool). Munzvimbo ine mativi matatu, madhigirii matanhatu erusununguko anodiwa kutsanangura chinzvimbo nemafungiro echinhu, madhigirii matatu erusununguko anodiwa pakushanda kwechinzvimbo (chiuno, pfudzi, negokora), uye madhigirii matatu erusununguko rwekushanda kwemaitiro (pitch, yaw uye roll).
Marobhoti eindasitiri akagadzirwa zvinoenderana nechinangwa chawo uye anogona kunge ari pasi kana kupfuura madhigirii matanhatu erusununguko.
4. Ndeapi maparameter makuru anobatanidzwa mumarobhoti eindasitiri?
Madhigirii erusununguko, kudzokororwa kwekumisikidza kurongeka, nhanho yekushanda, kumhanya kukuru kwekushanda, uye kugona kutakura.
5. Ndeapi mabasa efuselage uye ruoko? Tinofanira kungwarirei?
Iyo fuselage chikamu cheruoko runotsigira, iro rinowanzoona mafambiro ekusimudza uye kudzika. Iyo fuselage inofanira kugadzirwa nekuoma kwakakwana uye kugadzikana; Kufamba kunofanirwa kuve kwakasununguka, kureba kwegwara rekutungamira rekusimudza kufamba hakufanirwe kunge kuri kupfupika, kudzivirira chiitiko chekunamira, kazhinji, panofanira kunge paine chigadziro chekutungamira; Iyo dhizaini yekumisikidza inofanirwa kuve inonzwisisika ruoko ndiyo yakamira uye inosimba mutoro wechanza ruoko uye workpiece, kunyanya kana yakakwira-kumhanya mafambiro ichaburitsa hombe inertia simba, kukonzera kukanganisa, kukanganisa kurongeka kwenzvimbo.
Paunenge uchigadzira ruoko, kutarisisa kunofanirwa kubhadharwa kune yakakwira kuomarara zvinodiwa, yakanaka chidhiraivho, huremu, kufamba kwakatsetseka, uye yakakwira chinzvimbo. Mamwe masisitimu ekutapurirana anofanirwa kunge ari mapfupi sezvinobvira kuti avandudze kutapurirana chaiko uye kugona; Kurongeka kwechikamu chimwe nechimwe kunofanirwa kuve kunonzwisisika, uye kushanda nekugadzirisa kunofanira kunge kuri nyore; Mumamiriro ezvinhu akakosha, mhedzisiro yemwaranzi yekupisa inofanirwa kutariswa munzvimbo yepamusoro-yekupisa uye kuchengetedzwa kwekuora kunofanirwa kutariswa munzvimbo inoparadza. Nzvimbo ine ngozi inofanira kufunga nezvekudzivirira mhirizhonga.
6. Nderipi basa guru remwero werusununguko paruoko?
Chiyero cherusununguko muchiwoko chiri kunyanya kuzadzisa chimiro chinodiwa cheruoko. Kuti uite kuti ruoko ruve mune chero nzira yenzvimbo, ruoko runogona kuona kutenderera kweatatu ekubatanidza maaxes X, Y, uye Z munzvimbo. Ndiko kuti, ine madhigirii matatu erusununguko, kusvetuka-svetuka, uye kutsauka.
7. Mabasa uye maitiro ekupedzisira maturusi ebhobhoti
Ruoko rwemarobhoti chinhu chinoshandiswa kubata chidimbu chebasa kana chishandiso. Icho chikamu chakasiyana chinogona kuva neclaw kana chinhu chakakosha.
8. Zvinoenderana neiyo clamping musimboti, ndeapi marudzi ekupedzisira maturusi akakamurwa kuita? Ndeapi mafomu chaiwo anosanganisirwa?
Maererano clamping musimboti, kuguma clamping ruoko rakakamurwa muzvikamu zviviri: kirasi clamping rinosanganisira yomukati rutsigiro mhando, zvokunze clamping mhando, shanduro yokunze clamping mhando, hook mhando, uye chitubu mhando; Iyo adsorption kirasi inosanganisira iyo magineti suction mhando uye mweya suction mhando.
9. Musiyano pakati pe hydraulic uye pneumatic transmission mukushanda kwesimba, kutapurirana kwekuita, uye kutonga kushanda?
Simba rekushanda. Hydraulic inogona kuwana yakakura mutsara kufamba uye kutenderera simba, kubata huremu hwe1000 kusvika 8000N; Iyo mhepo yekumanikidza inogona kuwana diki mutsara inofamba simba uye inotenderera simba, uye huremu hwekubata huri pasi pe300N.
Transmission performance. Hydraulic compressibility idiki kutapurirana kwakatsetseka, hakuna kukanganisa, zvakanyanya, hapana kutapurirana lag chiitiko, kunoratidza kusimba kwekufamba kumhanya kusvika ku2m/s; Iyo pressure compressed air viscosity idiki, kurasika kwepombi idiki, kuyerera kweyero yakakura, kumhanya kwakakwira, asi kugadzikana kwakashata pakumhanya kwakanyanya, kukanganisa kwakakomba. Kazhinji, humburumbira iri 50 kusvika 500mm/s.
Kudzora kuita. Hydraulic pressure uye kuyerera zviri nyore kudzora, stepless speed regulation kuburikidza nemutemo; Kudzikira kwakadzika hakusi nyore kudzora, kwakaoma kuwana nemazvo, uye kazhinji haiite servo control.
Nguva yekutumira: Zvita-07-2022
